{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/122080"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/122080","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Safety of the Stanley controller with curved lanes and noisy perception: Theories and simulations","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","abstract_has_math":false,"creators":["Li, Hongyi"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Mitra, Sayan"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2023,"date_issued":"2023-12","date_published":"2023-12","updated_at":"2026-07-22T22:25:00Z","subjects":["Control Theory","Autonomous Driving"],"languages":["en","eng"],"rights":["Copyright 2023 Hongyi Li"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/122080","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Mitra, Sayan"]},{"key":"dc:creator","label":"Author","values":["Li, Hongyi"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2023-12","2023-12-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Control Theory","Autonomous Driving"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2023 Hongyi Li"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/122080"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","The student, Hongyi Li, accepted the attached license on 2023-12-08 at 14:32.","The student, Hongyi Li, submitted this Thesis for approval on 2023-12-08 at 14:54.","This Thesis was approved for publication on 2023-12-12 at 09:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20186 on 2024-03-01 at 13:15:35","The Stanley controller was designed for the DARPA 2005 Grand Challenge and has been widely used in real autonomous vehicles and simulation models. While the original paper presented an analysis of the tracking performance of this controller in straight roads, the analysis for general curved lanes and with perception errors is not available. This thesis utilizes the Lyapunov theory and the entropy estimation theory to give tracking performance guarantees for the Stanley controller. The analysis in this thesis can be used for ensuring safety of lane following and provide guidelines for choosing design parameters with respect to velocity, lane curvation, and sensing constraints. Furthermore, the original Stanley controller just assumes a constant velocity for the vehicle and thus doesn’t contain any form of longitudinal control. The analysis in this thesis also contains theoretical work to create an optimal velocity profile which can enable the car to achieve smaller deviations from the reference path and shorter track completion time. In addition, this thesis has simulations for its theoretical work."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Safety of the Stanley controller with curved lanes and noisy perception: Theories and simulations"]}]}],"canonical_facts":{"dc:contributor":["Mitra, Sayan"],"dc:creator":["Li, Hongyi"],"dc:date":["2023-12","2023-12-12"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","The student, Hongyi Li, accepted the attached license on 2023-12-08 at 14:32.","The student, Hongyi Li, submitted this Thesis for approval on 2023-12-08 at 14:54.","This Thesis was approved for publication on 2023-12-12 at 09:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20186 on 2024-03-01 at 13:15:35","The Stanley controller was designed for the DARPA 2005 Grand Challenge and has been widely used in real autonomous vehicles and simulation models. While the original paper presented an analysis of the tracking performance of this controller in straight roads, the analysis for general curved lanes and with perception errors is not available. This thesis utilizes the Lyapunov theory and the entropy estimation theory to give tracking performance guarantees for the Stanley controller. The analysis in this thesis can be used for ensuring safety of lane following and provide guidelines for choosing design parameters with respect to velocity, lane curvation, and sensing constraints. Furthermore, the original Stanley controller just assumes a constant velocity for the vehicle and thus doesn’t contain any form of longitudinal control. The analysis in this thesis also contains theoretical work to create an optimal velocity profile which can enable the car to achieve smaller deviations from the reference path and shorter track completion time. In addition, this thesis has simulations for its theoretical work."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/122080"],"dc:language":["en","eng"],"dc:rights":["Copyright 2023 Hongyi Li"],"dc:subject":["Control Theory","Autonomous Driving"],"dc:title":["Safety of the Stanley controller with curved lanes and noisy perception: Theories and simulations"],"dc:type":["text"],"thesis:degree_discipline":["Electrical & Computer Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:00Z"}